function u = policy4(weight, x, x_des, idx, delta_u_que)
%POLICY4 wrapper around policy1
%   fwd sim x using old controls

load('problem.mat','latency','dt','model');

for i = 1:latency
    noise_F_T = randn(6,1);
    x(:,i+1) = f_heli(x(:,i), delta_u_que(:,i), dt, model, idx, noise_F_T);
end

u = policy1(weight, x(:,end), x_des, idx);
end

